To surmise the Matt Forger interview (highly recommended) for those who haven't yet listened:
Rod Temperton presented Groove of Midnight to MJ during the Bad sessions. Michael wasn't particularly fond of the track, but may have recorded a guide vocal. Matt wasn't sure if he recorded a full lead vocal, which is why it may not have been available for Bad 25.
Temperton expressed to Forger that Michael didn't seem interested in hearing his song ideas for the Bad album. Quincy encouraged MJ to write his own songs for the album, a challenge that Michael took to heart. Temperton didn't present any more ideas to Michael for the album.
From what I remember, another piece of information gained from the interview is that Dirty Diana was initially worked on straight after the completion of Centipede for Rebbie Jackson in 1984.
Also, correct me if I'm wrong, but MJ worked on the song Tomboy with a guitarist (cannot remember his name). MJ wasn't a fan of the track, and gifted the instrumental to the guitarist, who used it on his next album.